Fluid Transfer Interface

ABSTRACT

A fluid transfer interface is provided. The fluid transfer interface includes one or more of first and second interface portions. The first interface portion includes a first portion of a fluid connector and one or more ferromagnetic surfaces. The second interface portion includes an extendable second portion of the fluid connector and one or more electropermanent magnets, laterally disposed around the second portion of the fluid connector, configured to be magnetized or demagnetized in unison. The one or more electropermanent magnets are further configured to provide attraction force to the one or more ferromagnetic surfaces when magnetized and couple the first interface portion to the second interface portion and provide no attraction force to the one or more ferromagnetic surfaces when demagnetized and allow the first interface portion to be decoupled from the second interface portion.

CROSS REFERENCE TO RELATED APPLICATIONS

This application claims priority from Provisional U.S. application62/986,244 (Docket No. ASP0012 PV), filed Mar. 7, 2020, entitledREUSABLE FLUID TRANSFER DEVICE, which is hereby incorporated byreference for all purposes.

FIELD

The present application is directed to apparatuses and methods relatedto fluid transfers from a supply source to a demand destination. Inparticular, the present application is directed to apparatuses andmethods for transferring cryogenic and/or non-cryogenic fluids betweenspacecraft.

BACKGROUND

There are a large variety of quick connect fittings, also called pushfittings, on the market, employed in fluid transfer of all kinds. Theymay be used for all sorts of pneumatic power transfer, plumbing,heating, electrical, and fire suppression applications. Such fittingsoffer the benefits of significant time savings over older devices forconnecting tubes and hoses, and of low skill requirements for theirusage. In some cases, users may equip tubing with threadless pushfittings specially made with teeth that are forced deeper into thetubing when opposing force is applied to them, preventing theirseparation from the tubing.

In North America, quick disconnect fittings are available in a varietyof generic and proprietary types. For example, industrial-typeinterconnect and/or interchange fittings may be based on militaryspecification MIL-C-4109F, ARO-type interconnect and/or interchange maybe used for fluid applications, and automotive-type interconnect and/orinterchange couplings based on a standard set forth for automotiveshops, including inflation and pneumatic tools, may commonly be used.

SUMMARY

The present application is directed to solving disadvantages of theprior art. In accordance with embodiments of the present application, afluid transfer interface may be provided. The fluid transfer interfacemay include one or more of a first interface portion and a secondinterface portion. The first interface portion includes a first portionof a fluid connector, centrally disposed within the first interfaceportion and configured to allow a fluid to pass therethrough and one ormore ferromagnetic surfaces, laterally disposed around the first portionof the fluid connector. The second interface portion includes anextendable second portion of the fluid connector, centrally disposedwithin the second interface portion and configured to allow the fluid topass therethrough to the first portion of the fluid connector inresponse to the first portion of the fluid connector is coupled to thesecond portion of the fluid connector and one or more electropermanentmagnets, laterally disposed around the second portion of the fluidconnector, configured to be magnetized or demagnetized in unison. Theone or more electropermanent magnets are further configured to provideattraction force to the one or more ferromagnetic surfaces whenmagnetized and couple the first interface portion to the secondinterface portion and provide no attraction force to the one or moreferromagnetic surfaces when demagnetized and allow the first interfaceportion to be decoupled from the second interface portion.

In accordance with another embodiment of the present application, amethod may be provided. The method includes one or more of maneuvering asecond interface portion of a fluid transfer interface into approximateangular and axial alignment with a first interface portion of the fluidtransfer interface, axially extending the second interface portiontoward the first interface portion, and establishing contact between anelectropermanent magnet ring of the second interface portion and aferromagnetic target of the first interface portion. In response toestablishing contact, the method includes one or more of changing theelectropermanent magnet ring from a demagnetized state to a magnetizedstate, mating the second portion of the fluid connector to the firstportion of the fluid connector, and enabling a fluid to pass between thesecond portion of the fluid connector and the first portion of the fluidconnector. The first interface portion may include a first portion of afluid connector and the second interface portion may include a secondportion of the fluid connector. The fluid connector may be configured toallow a fluid to pass therethrough.

In accordance with yet another embodiment of the present application, asystem may be provided. The system may include one or more of a firstobject, configured to receive a fluid, a second object, configured toprovide the fluid, a second interface portion, and a flexible memberincluding first and second ends. The first interface portion may includea first portion of a fluid connector, affixed to the first object andone or more ferromagnetic surfaces, orthogonally disposed around thefirst portion of the fluid connector and conformal with an exteriorsurface of the first object. The second interface portion may include asecond portion of the fluid connector, configured to allow the fluid topass therethrough and extend and retract with respect to the secondinterface portion and one or more electropermanent magnets, laterallydisposed around the second portion of the fluid connector, configured tobe magnetized or demagnetized in unison. The one or moreelectropermanent magnets may be further configured to provide attractionforce to the one or more ferromagnetic surfaces when magnetized andcouple the first interface portion to the second interface portion andprovide no attraction force to the one or more ferromagnetic surfaceswhen demagnetized and allow the first interface portion to be decoupledfrom the second interface portion. The first end of the flexible memberis coupled to the second object and the second end is coupled to thesecond interface portion and the second portion of the fluid connector.The flexible member is configured to maneuver the second interfaceportion relative to the first interface portion and pass the fluidtherethrough.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A is a diagram illustrating a spacecraft fluid transfer system, inaccordance with a first embodiment of the present invention.

FIG. 1B is a diagram illustrating a spacecraft fluid transfer system, inaccordance with a second embodiment of the present invention.

FIG. 1C is a diagram illustrating a spacecraft fluid transfer system, inaccordance with embodiments of the present invention.

FIG. 1D is a diagram illustrating a spacecraft fluid transfer system, inaccordance with embodiments of the present invention.

FIG. 1E is a diagram illustrating a spacecraft fluid transfer system, inaccordance with embodiments of the present invention.

FIG. 2A is a diagram illustrating electropermanent magnetization, inaccordance with embodiments of the present invention.

FIG. 2B is a diagram illustrating electropermanent demagnetization, inaccordance with embodiments of the present invention.

FIG. 3A is a diagram illustrating an isometric view of a first interfaceportion, in accordance with embodiments of the present invention.

FIG. 3B is a diagram illustrating an exploded view of the firstinterface portion, in accordance with embodiments of the presentinvention.

FIG. 3C is a diagram illustrating a sectional view A-A of the firstinterface portion, in accordance with embodiments of the presentinvention.

FIG. 4A is a diagram illustrating an isometric view of a secondinterface portion, in accordance with embodiments of the presentinvention.

FIG. 4B is a diagram illustrating an exploded view of the secondinterface portion, in accordance with embodiments of the presentinvention.

FIG. 4C is a diagram illustrating a side view of the second interfaceportion, in accordance with embodiments of the present invention.

FIG. 4D is a diagram illustrating a sectional view B-B of the secondinterface portion, in accordance with embodiments of the presentinvention.

FIG. 5A is a diagram illustrating an isometric view of an uncoupledfluid transfer interface, in accordance with embodiments of the presentinvention.

FIG. 5B is a diagram illustrating a sectional view C-C of the uncoupledfluid transfer interface, in accordance with embodiments of the presentinvention

FIG. 6A is a diagram illustrating an isometric view of a coupled fluidtransfer interface, in accordance with embodiments of the presentinvention

FIG. 6B is a diagram illustrating a sectional view D-D of the coupledfluid transfer interface, in accordance with embodiments of the presentinvention.

FIG. 7 is a flowchart illustrating a fluid transfer interface couplingprocess, in accordance with embodiments of the present invention.

FIG. 8 is a flowchart illustrating a fluid transfer interface decouplingprocess, in accordance with embodiments of the present invention.

FIG. 9A is a diagram illustrating a side view of a posable hose, inaccordance with embodiments of the present invention.

FIG. 9B is a diagram illustrating an isometric view of a posable hose,in accordance with embodiments of the present invention.

FIG. 10 is a block diagram illustrating a posable hose, in accordancewith embodiments of the present invention.

FIG. 11A is a diagram illustrating object capture, in accordance withembodiments of the present invention.

FIG. 11B is a diagram illustrating posable hose preparation, inaccordance with embodiments of the present invention.

FIG. 11C is a diagram illustrating a first posable hose installation, inaccordance with embodiments of the present invention.

FIG. 11D is a diagram illustrating a second posable hose installation,in accordance with embodiments of the present invention.

DETAILED DESCRIPTION

The technology described in the present application was developed underNASA SBIR Phase II Contract #NNX17CJ07C “Lightweight, High-Flow, LowConnection-Force, In-Space Cryogenic Propellant Coupling”. Thetechnology described in the present application was refined under NASAContract #80MSFC19C0032 “NextSTEP-2 Appendix E: Human Landing SystemStudies, Risk Reduction, Development, and Demonstration—RefuelingPrototypes”.

Referring now to FIG. 1A, a diagram illustrating a spacecraft fluidtransfer system 100, in accordance with the present invention is shown.FIG. 1A illustrates a fluid transfer operation from a fluid reservoir124 of a second object 108 to a fluid reservoir 140 of a first object104. The direction of fluid transfer 136A is as indicated in FIG. 1A. Inone embodiment, one or both of the first object 104 and the secondobject 108 may be spacecraft. In one embodiment, one or both of thefirst object 104 and the second object 108 may be objects different thana spacecraft, including terrestrial fluid storage devices. In oneembodiment, the fluid being transferred may be a cryogenic fluidincluding a cryogenic fuel. In the illustrated embodiment, the firstobject 104 may include a fluid reservoir 140 to store the receivedfluid, and the second object 108 may include fluid reservoir 124 tosupply the sourced fluid. The fluid reservoir 124 in this embodiment hasa more than empty fluid level 132 and is able to provide some fluid tothe first object 104. Additionally, the fluid reservoir 140 in the firstobject 104 has a less than full fluid level 128 and is therefore able toreceive some fluid from the second object 108. In this way, it is notnecessary that fluid reservoir 124 contain more fluid than fluidreservoir 140, although that is likely the most common situation.

In one embodiment, the second object 108 may be coupled to a roboticmanipulator 112. One end of the robotic manipulator 112 may be coupledto the second object 108 while the opposite end may be coupled to asecond interface portion 120 of a fluid transfer interface. In oneembodiment, the fluid may pass through a fluid pathway of the roboticmanipulator 112 to the second interface portion 120. One or morecontrolled valves associated with the fluid reservoir 124, the secondobject 108, and/or the robotic manipulator 112 may allow or preventfluid flow to the second interface portion 120. These valves may be inaddition to check valves or poppet valves associated with either thefirst and/or second interface portions 116, 120. In another embodiment,the fluid reservoir 140 may be less than full after the fluid transferis completed and/or it may require multiple fluid transfers fromdifferent second objects 108 to fill the fluid reservoir 140. In oneembodiment, the second interface portion 120 may transfer fluid to thefirst interface portion 116 after the second interface portion 120 iscoupled to the first interface portion 116, as described herein.

Either or both of the first object 104 and/or the second object 108 mayhave more than one fluid reservoir 124/140 and interfaces 116/120 inorder to store and transfer different fluids. For example, differentaccommodation may be necessary to transfer and store cryogenic fluid(s),room temperature storable fluids (e.g., water and/or pressurized gasessuch as helium)r, lubricant(s), or any other types of fluids. In oneembodiment, cryogenic fluids may include liquid oxygen, liquid hydrogen,and/or liquid methane. In addition, there may be multiple and differentsecond objects 108 to provide different fluids to the first object 104and fluid reservoir(s) 140.

The robotic manipulator 112 may be controlled in order to position thesecond interface portion 120 in proximity to the first interface portion116. For example, a person or computer associated with the second object108 may provide controls or instructions to the robotic manipulator 112in order to maneuver the second interface portion 120 in order to dockor couple it with the first interface portion 116. The person orcomputer may additionally have the capability of maneuvering the secondobject 108 in order to be within a successful capture or docking rangeof the robotic manipulator 112.

In one embodiment, there may be various components to provide a negativeor positive pressurization to a fluid being transferred between thefirst 104 and second 108 objects. However, any required pressurizationis outside the scope of the present application.

In one embodiment, the first interface portion 116 is affixed to a firstobject 104, where the second interface portion 120 is configured to bemovable relative to the first interface portion 116 and transfer thefluid between a second object 108 coupled to the second interfaceportion 120 and the first object 104 after the first interface portion116 is coupled to the second interface portion 120.

In one embodiment, a system includes a first object 104, configured toreceive a fluid, which includes a first interface portion 116. The firstinterface portion includes a first portion 308 of a fluid connector,affixed to the first object 104, and one or more ferromagnetic surfaces312, orthogonally disposed around the first portion of the fluidconnector 308 and conformal with an exterior surface of the first object104. The system also includes a second object 108, configured to providethe fluid. The second object 108 includes a second interface portion120, which includes a second portion of the fluid connector 412 and oneor more electropermanent magnets 208, laterally disposed around thesecond portion of the fluid connector 412, configured to be magnetizedor demagnetized in unison. The one or more electropermanent magnets 208are further configured to provide attraction force to the one or moreferromagnetic surfaces 312 when magnetized and couple the firstinterface portion 116 to the second interface portion 120, and provideno attraction force to the one or more ferromagnetic surfaces 312 whendemagnetized and allow the first interface portion 116 to be decoupledfrom the second interface portion 120. The system also includes aflexible member or robotic manipulator 112 including first and secondends, the first end coupled to the second object 108 and the second endcoupled to the second interface portion 120 and the second portion ofthe fluid connector 412, configured to maneuver the second interfaceportion 120 relative to the first interface portion 116 and pass thefluid therethrough. The first 308 and second 412 portions of the fluidconnector are configured to allow the fluid to pass therethrough andextend and retract with respect to the second interface portion 120.

Referring now to FIG. 1B, a diagram illustrating a spacecraft fluidtransfer system 150 in accordance with a second embodiment of thepresent invention is shown. FIG. 1B illustrates an embodiment where thefirst object 104 may also have a capability to provide one or morestored fluids externally, such as back to the second object 108 oranother spacecraft or vehicle. The direction of fluid transfer 136B isas indicated in FIG. 1B. In one embodiment, an exterior surface of thefirst object 104 may have a combination of first 116 and second 120interface portions. In another embodiment, described below, the firstobject 104 may have a first interface portion 116 that provides a fluidto a coupled second interface portion 120.

The fluid reservoir 124 in this embodiment has a less than full fluidlevel 128 and is able to receive some fluid from the first object 104.Additionally, the fluid reservoir 140 in the first object 104 has a morethan empty fluid level 132 and is therefore able to provide some fluidto the second object 108. In this way, it is not necessary that fluidreservoir 140 contain more fluid than fluid reservoir 124, although thatis likely the most common situation.

Either or both of the first object 104 and/or the second object 108 mayhave more than one fluid reservoir 124/140 and interfaces 116/120 inorder to store and transfer different fluids. For example, differentaccommodation may be necessary to transfer and store cryogenic fluid(s),water, lubricant(s), or any other types of fluids. In addition, theremay be multiple and different first objects 104 to provide differentfluids to the second object 108 and fluid reservoir(s) 124.

In one embodiment, the second object 108 may be coupled to a roboticmanipulator 112. One end of the robotic manipulator 112 may be coupledto the second object 108 while the opposite end may be coupled to asecond interface portion 120 of a fluid transfer interface. In oneembodiment, the fluid may pass through a fluid pathway of the firstobject 104, through the coupled second interface portion 120, throughthe robotic manipulator 112, and to the second object 108. One or morecontrolled valves associated with the fluid reservoir 140 or the firstobject 104 may allow or prevent fluid flow to the first interfaceportion 116. These valves may be in addition to check valves or poppetvalves associated with either the first and/or second interface portions116, 120. In another embodiment, the fluid reservoir 124 may still beless than full after the fluid transfer is completed and/or it mayrequire multiple fluid transfers from different first objects 104 tofill the fluid reservoir 124. In one embodiment, the first interfaceportion 116 may transfer fluid to the second interface portion 120 afterthe first interface portion 116 is coupled to the second interfaceportion 120, as described herein.

The robotic manipulator 112 may be controlled in order to position thesecond interface portion 120 in proximity to the first interface portion116. For example, a person or computer associated with the second object108 may provide controls or instructions to the robotic manipulator 112in order to maneuver the second interface portion 120 in order to dockit with the first interface portion 116. The person or computer mayadditionally have the capability of maneuvering the second object 108 inorder to be within a successful capture or docking range of the roboticmanipulator 112.

In one embodiment, there may be various components to provide a negativeor positive pressurization to a fluid being transferred between thefirst 104 and second 108 objects. However, any required pressurizationis outside the scope of the present application.

Referring now to FIG. 1C, a diagram illustrating a spacecraft fluidtransfer system 160 in accordance with embodiments of the presentinvention is shown. FIG. 1C illustrates an embodiment where the secondobject 108 may provide one or more fluids to the first object 104through umbilical active halves 162. Two umbilical active halves 162 areshown in FIG. 1C, identified as umbilical active half 162A and umbilicalactive half 162B. A fluid reservoir 124 of the second object 108 ismostly full, and transfers a fluid to two fluid reservoirs 140A/140B inthe first object 104, which are shown as mostly empty. In otherembodiments (see FIGS. 11A-11D), different types of fluids may be storedin the second object 108. Each type of fluid may be stored in adifferent fluid reservoir 124 and have separate and different fluidcouplings 1112 from those used for other types of fluids, where eachfluid coupling 1112 may be either a first portion interface 116 or asecond portion interface 120.

In the illustrated embodiment, the second object 108 captures the firstobject 104 prior to transferring fluids. A docking probe 144 is coupledto, and controlled by, the second object 108. In this embodiment, nofluids pass through the docking probe 144. The free end of the dockingprobe 144 in this embodiment includes a capture plug 164. The captureplug 164 is configured to engage a capture socket 166 affixed to anexterior surface of the first object 104. The robotic manipulator 112extends the plug toward the socket 168. This is performed after thesecond object 108 maneuvers to a position relative to the first object104 where the distance between the first 104 and second 108 objects iswithin a capture range of the docking probe 144 and the second object108 has an attitude relative to the capture socket 166 where a reliableconnection may be secured.

Referring now to FIG. 1D, a diagram illustrating a spacecraft fluidtransfer system 170 in accordance with embodiments of the presentinvention is shown. FIG. 1D illustrates the capture plug 164 engagedwith and secured to the capture socket 166. The second object has beenrigidly secured to the first object 172. At this point, the secondobject 108 extends 174A/174B umbilical active halves 162A/162B towardthe first interface portions 116A/116B.

Referring now to FIG. 1E, a diagram illustrating a spacecraft fluidtransfer system 180 in accordance with embodiments of the presentinvention is shown. FIG. 1E illustrates the second object 108 fullysecured to the first object 104. Fully secured includes the capture plug164 previously mated to the capture socket 166 (FIG. 1C) and the secondinterface portions 120A/120B previously mated to the first interfaceportions 116A/116B (FIG. 1D), respectively. The fluid is transferred182A/182B from the fluid reservoir 124 of the second object 108 to eachof the fluid reservoirs 140A/140B of the first object 104. FIG. 1Eillustrates the conclusion of the fluid transfer 182 operation, wherethe fluid reservoir 124 of the second object 108 has a lower fluid levelcompared with the mostly full fluid level shown in FIGS. 1C and 1D, andthe fluid reservoirs 140A/140B of the first object 104 are full. Afterthis point, the second interface portions 120A/120B may be decoupledfrom the first interface portions 116A/116B, respectively, the umbilicalactive halves 162A/162B may be retracted, the capture plug 164 may bereleased from the capture socket 166, and the docking probe 144 may bewithdrawn toward the second object 108. At this point, the second object108 is free to be maneuvered away from the first object 104.

Referring now to FIG. 2A, a diagram illustrating electropermanentmagnetization 200 in accordance with embodiments of the presentinvention is shown. The fluid transfer interface may include one or moreelectropermanent magnets 208. Electropermanent magnets 208 may beselectively magnetized and/or demagnetized under computer control. Inthe illustrated embodiment, there are six EPM elements 208, identifiedas EPM 208A, EPM 208B, EPM 208C, EPM 208D, EPM 208E, and EPM 208F. Inother embodiments there may be one or more EPM elements 208, includingfewer than six or more than six EPM elements 208. EPMs 208 may beconfigured as an electropermanent magnet ring, where the EPMs 208 areorganized in a substantially circular arrangement. Details ofelectropermanent magnet 208 magnetization operation and components arefully described in related U.S. patent application Ser. No. 16/876,096,titled “Electropermanent Magnet Array”.

FIG. 2A describes high level functionality to magnetize 200 theelectropermanent magnets (EPM) 208 or electropermanent magnet elements208. Once magnetized to a desired level, the EPMs 208 provide anattraction force to a ferromagnetic target 220. EPMs 208 are controlledby a control circuit 204, which may be present within the secondinterface portion 120, the robotic manipulator 112, or the second object108. The control circuit 204 may include one or more processors,memories, chargers, energy storage devices, and switches that convertreceived commands into current pulses to each of the EPMs 208. In thecase of magnetization (i.e. causing the EPMs 208 to have a definedmagnetic field), the control circuit 204 may receive a number of firstcommands 212 from the second object 108. The first command(s) may bereceived over a wired or wireless interface, and in one embodiment thefirst command(s) may pass through the robotic manipulator 112. Inresponse to receiving the first command(s) 212, the control circuit 204may generate unipolar current pulses 216 to each of the EPMs 208. Theunipolar current pulses 216 have a defined amplitude and pulsewidth thatbuilds up the magnetic fields in the EPMs 208.

Ferromagnetic materials may be divided into magnetically “soft”materials like annealed iron, which can be magnetized but do not tend tostay magnetized, and magnetically “hard” materials, which do. Permanentmagnets are made from “hard” ferromagnetic materials such as alnico, analuminum, nickel, and cobalt alloy, alloys of neodymium and other rareearth materials, and ferrite that are subjected to special processing ina strong magnetic field during manufacture to align their internalmicrocrystalline structure, making them very hard to demagnetize. Todemagnetize a saturated magnet, a certain magnetic field must beapplied, and this threshold depends on coercivity of the respectivematerial. “Hard” materials have high coercivity, whereas “soft”materials have low coercivity. The overall strength of a magnet ismeasured by its BH product. The local strength of magnetism in amaterial is measured by its magnetization.

An electromagnet may be made from a coil of wire that acts as a magnetwhen an electric current passes through it but stops being a magnet whenthe current stops. Often, the coil is wrapped around a core of “soft”ferromagnetic material such as mild steel, which greatly enhances themagnetic field produced by the coil. The electropermanent magnetelements 208 of the present application is described below, and may beused in two discrete states:

Demagnetized—electropermanent magnet elements 208 may be turned off bydemagnetizing the electropermanent magnet elements 208, which results inthere being no magnetic poles at all. That is, there is no north pole,no south pole, and there is no attraction or repulsion force at all.

Magnetized—this configuration causes all magnetic flux field lines totake a short and concentrated path through the target ferromagneticmaterial to a neighboring pole of opposite polarity. Because almost allof the magnetic flux is forced through the target material, grip forcemay be maximized. Electropermanent magnet elements 208 have manyadvantages over conventional permanent magnets. For example,electropermanent magnets 208 have no moving parts and may bedemagnetized in order to minimize decoupling force between the first 116and second 120 interface portions.

In one embodiment, the first command 212 may designate the EPMs 208magnetized to a desired level. For example, in response to receiving thefirst command 212, the control circuit 204 may generate one or moreunipolar current pulses 216 with a defined amplitude and pulsewidth tothe EPMs 208. If multiple unipolar current pulses 216 are required, thecontrol circuit 204 may provide a desired delay between pulses 216.

In another embodiment, multiple first commands 212 may designate theEPMs 208 magnetized to a desired level. For example, in response toreceiving each first command 212, the control circuit 204 may generateonly one unipolar current pulse 216 with a defined amplitude andpulsewidth to the EPMs 208. In one embodiment, the timing betweenreceived first commands 212 may correspond to timing between unipolarcurrent pulses 216. In one embodiment, the amplitude and pulsewidth ofthe unipolar current pulses 216 may be controlled by the control circuit204. In another embodiment, the amplitude and pulsewidth of the unipolarcurrent pulses 216 may be specified within each first command 212. Inone embodiment (not shown), the control circuit 204 may provide anindication to the second object 108 that the EPMs 208 are charged to adesired level of magnetization.

Referring now to FIG. 2B, a diagram illustrating electropermanentdemagnetization 230 in accordance with embodiments of the presentinvention is shown. Details of electropermanent magnet demagnetizationoperation and components are also fully described in related U.S. patentapplication Ser. No. 16/876,096, titled “Electropermanent Magnet Array”.

FIG. 2B describes high level functionality to demagnetize 230 theelectropermanent magnets (EPM) 208 or electropermanent magnet elements208. Once demagnetized, the EPMs 208 provide no attraction force to aferromagnetic target 242. EPMs 208 are controlled by the control circuit204, which may be present within the second interface portion 120, therobotic manipulator 112, or the second object 108. The control circuit204 may include one or more processors, memories, chargers, energystorage devices, and switches that convert received commands intocurrent pulses to each of the EPMs 208. In the case of demagnetization230 (i.e. causing the EPMs 208 to have no magnetic field), the controlcircuit 204 may receive a number of second commands 234 from the secondobject 108. The second command(s) 234 may be received over a wired orwireless interface, and in one embodiment the second command(s) 234 maypass through the robotic manipulator 112. In response to receiving thesecond command(s) 234, the control circuit 204 may generate alternatingpolarity current pulses 238 to each of the EPMs 208. The alternatingpolarity current pulses 238 may have a defined amplitude and pulsewidththat reduces the magnetic fields in the EPMs 208 from a previouslymagnetized state. In one embodiment, the alternating polarity currentpulses 238 alternate between a positive polarity pulse (positivecurrent), and a negative polarity pulse (negative current). In anotherembodiment, the alternating polarity current pulses 238 successivelyreduce in amplitude until the EPMs 208 are demagnetized.

In one embodiment, a second command 234 may correspond to a pair ofalternating polarity current pulses 238. For example, in response toreceiving the second command 234, the control circuit 204 may generate apair of alternating polarity current pulses 238 with a defined amplitudeand pulsewidth to the EPMs 208. In one embodiment, the second command234 may specify one or more of the amplitude or pulsewidth of thealternating polarity current pulses 238. In one embodiment, the timingbetween second commands 234 may correspond to the timing betweenalternating polarity current pulses 238.

In one embodiment, the amplitude and pulsewidth of the alternatingpolarity current pulses 238 may be controlled by the control circuit204. In another embodiment, the amplitude and pulsewidth of thealternating polarity current pulses 238 may be specified within eachsecond command 234. In one embodiment (not shown), the control circuit204 may provide an indication to the second object 108 that the EPMs 208are fully demagnetized.

In one embodiment, the control circuit 204 is electrically coupled tothe one or more electropermanent magnets 208, and is configured tomagnetize the one or more electropermanent magnets 208 in response toone or more first commands 212 and demagnetize the one or moreelectropermanent magnets 208 in response to one or more second commands234.

Referring now to FIG. 3A, a diagram illustrating an isometric view of afirst interface portion 116 in accordance with embodiments of thepresent invention is shown. The first interface portion 116 is intendedto be statically mounted to the first object 104, and couple to thesecond interface portion 120. FIG. 3A also indicates a section A-A,which applies to the first interface portion section view, shown in FIG.3C.

The first interface portion 116 may include a mounting plate 304. Themounting plate 304 may be secured or affixed to the first object 104 byone or more fasteners, brazing, soldering, gluing, or any otherpermanent attachment method known in the art. The mounting plate 304 maybe made from a preferably rigid material including but not limited tostainless steel or aluminum.

The first interface portion 116 may also include one or more fluidconnector first portions 308. That is, multiple fluid connector firstportions 308 may utilize a same ferromagnetic target 312. This may allowdifferent fluids to be simultaneously transferred through multiple fluidtransfer interfaces. The fluid connector first portion 308 projectsoutward from the mounting plate 304, and includes a central channelthrough which fluid may pass to and from a fluid reservoir 140associated with the first object 104. The fluid connector first portion308 mates with and couples to a fluid connector second portion 412 asshown and described herein. In one embodiment, the fluid connector firstportion 308 may include a first portion sealing surface 316. The firstportion sealing surface 316 may bear against one or more sealsassociated with the fluid connector second portion 412 in order toprovide a leak proof fluid transfer interface. In other embodiments, thesealing surface 316 may also include a face seal to bear against asealing surface of the fluid connector second portion 412. In oneembodiment, the fluid connector first portion 308 may also include oneor more valves to control fluid flow and/or one or more radial seals.

The first interface portion 116 may also include one or moreferromagnetic targets 312. Ferromagnetic targets 312 provide a magneticattraction surface for the electropermanent magnets 208 describedherein. The ferromagnetic target(s) 312 may be a single continuoussurface as shown, or a series of flat ferromagnetic surfaces distributedaround the fluid connector first portion 308. Each of the ferromagnetictarget(s) 312 may include a thin (potentially <1 mm) ferromagneticmaterial layer (e.g., Hiperco-50) that allows the electropermanentmagnets 208 to magnetically grip the ferromagnetic target 312. In thepreferred embodiment, the ferromagnetic target 312 is made from aHyperco-50 alloy (an approximately 50/50 Iron/Cobalt alloy). Carpenter49 (an approximately 49% Iron/Nickel alloy having lower saturation fluxand lower coercivity) or other alloys including silicon electric steelor soft magnetic composites such as Somaloy may be used. Theferromagnetic target 312 retains very little residual magnetization whennot subjected to an external magnetic field, which minimizes magneticinterference with the first object 104. The ferromagnetic target 312 mayinclude aluminum cladding that enables easier bonding and may protectthe ferromagnetic target 312 from corrosion. Aluminum cladding mayprovide a way to anodize-in, or adhesively bond on durable opticalfiducial markings that may aid in machine vision used for aligning andconnecting the first 308 and second 412 portions of the fluid transferinterface. In one embodiment, the flatness of the ferromagnetic target312 may be approximately +/−0.001″ per linear foot.

The ferromagnetic target 312 may be manufactured by laser or water jetcutting or machining the material to the correct shape, annealing it toachieve optimal magnetic properties, cold-spraying a 75 μm 1100 aluminumcoating (i.e. cladding) onto both sides, and phosphoric acid anodizingboth sides of the ferromagnetic target 312. In another embodiment, thealuminum coating may be applied via electroplating. In anotherembodiment, the aluminized Hiperco-50 may be replaced by a morecorrosion-resistant soft magnetic alloy such as Carpenter HighPermeability 49 alloy, which would not require aluminum plating.Carpenter High Permeability 49 alloy may be aluminum plated andanodized/pixodized. In another embodiment, the ferromagnetic target 312,after annealing to achieve optimal magnetic properties, may be clad ontothe underlying mounting plate 304 using explosive or hot roll claddingtechniques. The resulting bimetallic sandwich may then be machined toremove the aluminum structural material and ferromagnetic material asneeded. The machined piece may then have the ferromagnetic target 312aluminum clad using cold-spraying or electroplating, and then may havethat surface anodized for increased durability.

The ferromagnetic target 312 may include a soft magnetic material havinghigh permeability, high saturation magnetization, and low coerciveforce. These properties enable robust magnetic attraction with a highholding force while ensuring that the electropermanent magnet 208 has alow residual magnetic field that doesn't interfere with components ofthe first object 104. The coercive force may affect torque created bythe Earth's magnetic field, but the larger the spacecraft the moretorque it takes to induce a given angular acceleration. Other items on aspacecraft may induce magnetic dipoles (e.g., ferrous material inmagnetorquers or hall thrusters, current loops caused by how theelectronics and harnessing are designed, etc), so generally it ispreferred to maintain a low worst-case residual dipole. In oneembodiment, a rigid ring 320 may be used to secure the ferromagnetictarget 312 to the mounting plate 304.

Referring now to FIG. 3B, a diagram illustrating an exploded view of thefirst interface portion 116 in accordance with embodiments of thepresent invention is shown. FIG. 3B shows the components of the firstinterface portion 116 of FIG. 3A in a separated exploded view to providemore detail for an example of assembly. Visible in FIG. 3B are a numberof fasteners 334 to secure the ring 320 to the mounting plate 304. Inthe illustrated embodiment, there are eight fasteners 334 shown,although any number of fasteners 334 may be used. In one embodiment, nofasteners 334 may be required if the ring 320 is secured by soldering,brazing, gluing, or other fastener-less process. FIG. 3B also shows fourmounting holes for the mounting plate 304, one in each corner. However,any number of mounting holes may be used.

FIG. 3B also shows a hexagonal channel at the center rear of themounting plate 304, and a matching hexagonal feature on the fluidconnector first portion 308. This provides an anti-rotation feature thatprevents the fluid connector first portion 308 from rotating within themounting plate 304. Other forms of anti-rotation features may beequivalently used, including a splined shaft, square interfaces, and thelike.

Referring now to FIG. 3C, a diagram illustrating a sectional view A-A ofthe first interface portion 116 in accordance with embodiments of thepresent invention is shown. FIG. 3C provides a section view A-A of thefirst interface portion 116, referenced to FIG. 3A.

The first interface portion 116 includes the fluid connector firstportion 308, the mounting plate 304, and the ferromagnetic target 312. Afluid pathway 354A proceeds through the center of the fluid connectorfirst portion 308, along its entire length. A coupling to the fluidreservoir 358 may be provided on a back side (i.e. within the firstobject 104, when installed). The fluid pathway 354A extends from thefirst portion sealing surface 316 to a rear surface of the coupling tofluid reservoir 358. In one embodiment, there may be one or more checkvalves or poppet valves within the fluid pathway 354A, although theremay be valves between the coupling to fluid reservoir 358 and the fluidreservoir 140.

In one embodiment, there may be a threaded interface on the coupling tofluid reservoir 358. This may allow a threaded hose to be attached tothe coupling to fluid reservoir 358. In other embodiments, there may bea soldered, brazed, or other type of connection to tubing or a hose tothe fluid reservoir 140.

Referring now to FIG. 4A, a diagram illustrating an isometric view of asecond interface portion 120 in accordance with embodiments of thepresent invention is shown. The second interface portion 120 couples toand mates with the first interface portion 116. The second interfaceportion 120 includes most of the active components of the fluid transferinterface, and is intended to be the movable portion of the interfacewhile the first interface portion 116 is static. As such, in oneembodiment the second interface portion 120 may be attached to a roboticmanipulator 112 or other form of movable member.

Structurally, the second interface portion 120 is made up of threecomponents: a base 404, a mounting frame 408, and a number of linearguides 420. The base 404 is located at the rear of the second interfaceportion 120 (i.e. the end of the interface 420 away from the firstinterface portion 116). The mounting frame 408 is located at the frontof the second interface portion 120 (i.e. the end of the interface 420facing toward the first interface portion 116). The linear guides 420are generally axially distributed around the center of the secondinterface portion 120, and between the base 404 and the mounting frame408. When assembled, the base 404/linear guides 420/mounting frame 408make up a partially collapsible assembly that extends to a maximumlength and retracts to a minimum length, and supports the othercomponents of the second interface portion 120. In one embodiment, thebase 404/linear guides 420/mounting frame 408 may be constructed of arigid material, including a rigid metallic material such as stainlesssteel or aluminum.

In one embodiment, the linear guides 420 may be organized into a groupof lengthwise pairs, evenly distributed around the center of the secondinterface portion 120. Each pair of linear guides 420 may include oneguide attached to a front surface of the base 404 and another guideattached to a rear surface of the mounting frame 408. The guides 420within each pair are intended to stay in contact and slide lengthwise inorder to maintain axial alignment of the second interface portion 120 asit expands or retracts. In other embodiments, other forms of linearguides 420 may be utilized without deviating from the scope of thepresent application. For example, linear guides 420 may include one ormore guide rods, linear bearings, or bushings.

A fluid connector second portion 412 is rigidly attached to the base404, with a coupling to the fluid reservoir 416 at the rear end of thesecond interface portion 120. The fluid connector second portion 412 istherefore movable toward the front of the second interface portion 120(i.e. toward the mounting frame 408) as the second interface portion 120retracts, as previously described. The fluid connector second portion412 may include one or more face seals 428 or radial seals (not shown)in order to provide a leak proof fluid transfer interface when coupled.

The second interface portion 120 may also include one or more linearactuators 424, evenly distributed around the center of the secondinterface portion 120. The linear actuators 424 are externally activatedon command, and control the degree to which the second interface portion120 is expanded or retracted, and maintain that degree of expansion orretraction when inactivated. Controlling the linear actuators 424 isexplained in the context of a fluid transfer interface coupling processin FIG. 7, and a fluid transfer interface decoupling process in FIG. 8.The linear actuators 424 may include one or more motors, solenoids,thermohydraulic actuators such as high-output paraffin actuators, orother form of controllable active components. In one embodiment, acomputer or individual associated with the second object 108 may controlthe linear actuators 424.

The mounting frame 408 supports one or more electropermanent magnets208. The embodiment shown in FIG. 4A includes six electropermanentmagnet elements 208. The electropermanent magnet elements 208 secure thesecond interface portion 120 to the first interface portion 116 byproviding a strong attraction force to the ferromagnetic target 312 whenmagnetized. This attraction force maintains coupling in the fluidtransfer interface while fluid is transferred between the fluidreservoirs 124, 140. In one embodiment, a computer or individualassociated with the second object 108 may control the electropermanentmagnet elements 208. In one embodiment, a same computer or individualassociated with the linear actuators 424 may also control theelectropermanent magnet elements 208. In another embodiment, a samecomputer or individual associated with the robotic manipulator 112 mayalso control the linear actuators 424 and/or the electropermanent magnetelements 208. In one embodiment, the linear actuators 424 may beconfigured so that power is required to retract the fluid connector 412relative to the EPMs 208, but that if power is removed the linearactuators 424 may naturally pull the EPMs 208 and linear actuators 424together.

In one embodiment, the second interface portion 120 includes one or morelinear actuators 424, concentrically disposed around the second portionof the fluid connector 412, configured to axially extend or retract thesecond portion of the fluid connector 412 relative to the secondinterface portion 120.

In one embodiment, the second interface portion 120 includes one or morelinear guides 420, disposed around and parallel to the second portion ofthe fluid connector 412, configured to maintain axial alignment betweenthe first 308 and second 412 portions of the fluid connector while thesecond portion of the fluid connector 412 is extended toward the firstportion of the fluid connector 308.

Referring now to FIG. 4B, a diagram illustrating an exploded view of thesecond interface portion 120 in accordance with embodiments of thepresent invention is shown. FIG. 4B shows the components of the secondinterface portion 120 of FIG. 4A in a separated exploded view to providemore detail for an example of assembly.

FIG. 4B shows a coupling 416 to the fluid transfer reservoir 124 at therear of the fluid connector second portion 412. This coupling 416 passesthrough a hole in the center of the base 404. In one embodiment, theremay be a threaded interface on the coupling to fluid reservoir 124. Thismay allow a threaded hose to be attached to the coupling to fluidreservoir 124. Such a hose may pass along/through various movablemembers of the robotic manipulator 112 and into the second object 108,where it is then routed to the fluid reservoir 124. In otherembodiments, there may be a soldered, brazed, or other type ofconnection to tubing or a hose to the fluid reservoir 124.

The second interface portion 120 may include one or more springs 432,which may be laterally disposed around the second portion of the fluidconnector 412. The springs(s) 432 are configured to provide axialtolerance between a bearing surface of the second interface portion 120and the second portion of the fluid connector 412.

FIG. 4B also shows a hexagonal channel at the center of the base 404,and a matching hexagonal feature on the fluid connector second portion412. This provides an anti-rotation feature that prevents the fluidconnector second portion 412 from rotating within the base 404. Otherforms of anti-rotation features may be equivalently used, including asplined shaft, square interfaces, and the like.

In one embodiment, the second interface portion 120 includes one or moresprings 432, laterally disposed around the second portion of the fluidconnector 412, configured to provide axial tolerance between a bearingsurface 404 of the second interface portion 120 and the second portionof the fluid connector 412.

Referring now to FIG. 4C, a diagram illustrating a side view of thesecond interface portion 120 in accordance with embodiments of thepresent invention is shown. The side view shown in FIG. 4C shows thesecond interface portion 120 when in the uncoupled position, where thereis a maximum distance between the base 404 and the mounting frame 408.The linear actuators 424 have been set to fully retract the fluidconnector second portion 412, and the linear guides 420 only overlap bya small amount.

Referring now to FIG. 4D, a diagram illustrating a sectional view B-B ofthe second interface portion 120 in accordance with embodiments of thepresent invention is shown. The sectional view B-B corresponds to thesection lines B-B shown in FIG. 4A.

The fluid connector second portion 412 includes a fluid pathway 354B,which linearly extends lengthwise through the center of the fluidconnector second portion 412. When coupled to the fluid connector firstportion 308, a continuous fluid pathway 354 is present, with theoptional exception of the presence of any check valves or poppet valves436 in the first 308 and/or second 412 connector portions. FIG. 4D showsa poppet valve 436 within the fluid pathway 354B. Poppet valves 436include a plunger that can make contact with a face portion of the firstconnector portion 308. When the fluid connector second portion 412 isnot in contact with the fluid connector first portion 308, the plungeris not depressed and the valve 436 blocks fluid flow through the fluidpathway 354B. When the fluid connector second portion 412 is in contactwith the fluid connector first portion 308, the plunger is depressed andthe valve 436 allows fluid flow through the fluid pathway 354B, 354A.Although a poppet valve 436 is shown and described, it should beunderstand that any type of fluid control valve 436 may be present,including no valve 436.

Also present in FIG. 4D is a flanged ring 444. The flanged ring 444 isseated within the center of the mounting frame 408, and provides a softlead-in to the fluid connector first portion 308 during couplingoperations. The flanged ring 444 may include angled sides on an innersurface that axially center the fluid interface first 116 and second 120portions. In a preferred embodiment, the flanged ring 444 may be madefrom a smooth and resilient material such as various plastics/polymersthat have some give and reduce the chance of nicks or gouges in otherparts of the fluid transfer interface 116, 120.

Also shown in FIG. 4D is a face seal 428 in the mating surface of thefluid connector second portion 412. The face seal 428 is intended tomake contact with a face portion of the fluid connector first portion308, which commonly would not have a face seal present. FIG. 4D alsoshows a radial seal 440, which may be installed around a circumferenceof the fluid connector second portion 412. The face seal 428 and radialseal 440 prevent fluid leakage during fluid transfer operations, and maybe present in either the first 116 or second 120 interface portions. Inone embodiment, in lieu of a radial seal 440, a welded metallic bellowsmay be used.

In one embodiment, the second interface portion 120 includes a ring ofresilient material 444, concentric with the second portion of the fluidconnector 412 and comprising a hole for the first portion of the fluidconnector 308 to pass therethrough. The ring of resilient material 444,or flanged ring 444, may include a flanged lead-in on an inner surface.

Referring now to FIG. 5A, a diagram illustrating an isometric view of anuncoupled fluid transfer interface 500 in accordance with embodiments ofthe present invention is shown. FIG. 5A illustrates a stage in thecoupling process where rough axial alignment has been performed betweenthe first 116 and second 120 interface portions. The second interfaceportion 120 is moving axially toward the first interface portion 116,and the fluid connector first portion 308 is approaching the flangedring 444. At this point, the electropermanent magnets 208 have not beenmagnetized and the linear actuators 424 have not yet been activated tobring the base 404 closer to the mounting frame 408.

Referring now to FIG. 5B, a diagram illustrating a sectional view C-C ofthe uncoupled fluid transfer interface 520 in accordance withembodiments of the present invention is shown. The sectional view C-Ccorresponds to the section lines C-C shown in FIG. 5A. The fluidconnector first portion 308 is approaching passing through the flangedring 444. The lead-in on the flanged ring 444 will assist in centeringand aligning the fluid connector first portion 308 with the fluidconnector second portion 412. The second portion of the fluid transferinterface 120 continues to move toward the first portion of the fluidtransfer interface 116.

Referring now to FIG. 6A, a diagram illustrating an isometric view of acoupled fluid transfer interface 600 in accordance with embodiments ofthe present invention is shown. At the point shown, the second portionof the fluid transfer interface 120 is coupled to the first portion ofthe fluid transfer interface 116, and fluid transfer may be performed.Prior to this point, the second portion 120 was moved toward the firstportion 116 until they were in contact with each other. Once theelectropermanent magnets 208 of the second interface portion 120 makecontact with the ferromagnetic target 312 of the first interface portion116, the electropermanent magnets 208 are magnetized and hold the secondinterface portion 120 firmly to the first interface portion 116.

At this point, the linear actuators 424 are activated, bringing thefluid connector second portion 412 into contact with the fluid connectorfirst portion 308. Once the fluid connector first portion 308 makescontact with the fluid connector second portion 412 (or, the fluidconnector first portion 308 makes contact with a face seal 428 of thefluid connector second portion 412 or, a face seal 428 of the fluidconnector first portion 308 makes contact with the fluid connectorsecond portion 412), the valve 436 opens up to allow fluid transfer. Oneor more additional valves associated with the first 104 and/or second108 object may be opened up, if present, to allow fluid transfer betweenthe fluid reservoirs 124, 140.

In one embodiment, a fluid transfer interface 600 is provided. The fluidtransfer interface 600 includes a first interface portion 116, whichincludes a first portion of a fluid connector 308, centrally disposedwithin the first interface portion 116 and configured to allow a fluidto pass therethrough and one or more ferromagnetic surfaces 312,laterally disposed around the first portion of the fluid connector 308.The fluid transfer interface 600 also includes a second interfaceportion 120, which includes an extendable second portion of the fluidconnector 412, centrally disposed within the second interface portion120 and configured to allow the fluid to pass therethrough to the firstportion of the fluid connector 308 in response to the first portion ofthe fluid connector 308 is coupled to the second portion of the fluidconnector 412 and one or more electropermanent magnets 208, laterallydisposed around the second portion of the fluid connector 412,configured to be magnetized or demagnetized in unison. The one or moreelectropermanent magnets 208 are further configured to provideattraction force to the one or more ferromagnetic surfaces 312 whenmagnetized and couple the first interface portion 116 to the secondinterface portion 120 and provide no attraction force to the one or moreferromagnetic surfaces 312 when demagnetized and allow the firstinterface portion 116 to be decoupled from the second interface portion120.

In some embodiments, some form of positive or negative pressurization offluid may be desired or required. However, pressurization is outside thescope of the present application, and may be associated with the first104 and/or second 108 objects.

Referring now to FIG. 6B, a diagram illustrating a sectional view D-D ofthe coupled fluid transfer interface 620 in accordance with embodimentsof the present invention is shown. The sectional view D-D corresponds tothe section lines D-D shown in FIG. 6A. FIG. 6B illustrates the fullycoupled interface 116, 120. The electropermanent magnets 208 are indirect contact with the ferromagnetic target 312 and the fluid connectorsecond portion 412 is in direct contact with the fluid connector firstportion 308. The valve 436 is open, and fluid pathway 354B is able totransfer fluid to fluid pathway 354A, and vice versa.

In one embodiment, the fluid transfer interface 600 may include one ormore valves 436, configured to close and prevent fluid flow in responseto the first portion of the fluid connector 308 is not coupled to thesecond portion of the fluid connector 412 and open and allow fluid flowin response to the first portion of the fluid connector 308 is coupledto the second portion of the fluid connector 412. In one embodiment,valves 436 may be present both in the first portion interface 116 aswell as the second portion interface 120. This may allow a dual shutoffstyle quick disconnect interface.

Referring now to FIG. 7, a flowchart illustrating a fluid transferinterface coupling process 700 in accordance with embodiments of thepresent invention is shown. FIG. 7 describes a mating or couplingprocess between the first 116 and second 120 fluid interface portions.Flow begins at block 704.

At block 704, the second portion of the fluid transfer interface 120 ismaneuvered into approximate angular and axial alignment with the firstportion of the fluid transfer interface 116. In one embodiment, arobotic manipulator 112 may be attached to the second portion of theinterface 120 and have one or more degrees of freedom. In anotherembodiment, a posable hose (FIG. 9A/9B) may be attached to the secondportion of the interface 120. Flow proceeds to block 708.

At block 708, the second portion of the interface 120 is axiallyextended toward the first portion of the interface 116. At this point,the movement is caused by outside members or devices, such as therobotic manipulator 112, the posable hose 900, or movement of the secondobject 108. Flow proceeds to block 712.

At block 712, the fluid connector first portion 308 passes through aflanged ring 444 of the second interface portion 120. The flanged ring444 provides smooth lead-in to help the first 116 and second 120portions of the interface become centered and axially oriented. Flowproceeds to block 716.

At block 716, electropermanent magnet elements 208 of the secondinterface portion 120 make contact with the ferromagnetic target 312 ofthe first interface portion 116. Flow proceeds to block 720.

At block 720, the electropermanent magnet elements 208 are magnetized.In one embodiment, the control circuit 204 and associated components maybe part of the second interface portion 120. In another embodiment, thecontrol circuit 204 and associated components may be part of the roboticmanipulator 112, the posable hose 900, or the second object 108. Flowproceeds to block 724.

At block 724, the electropermanent magnet elements 208 provideattraction grip force to the ferromagnetic target 312. Once magnetized,the electropermanent magnet elements 208 are attracted to theferromagnetic target 312 and rigidly couple the second portion interface120 to the first portion interface 116. Flow proceeds to block 728.

At block 728, the linear actuators 424 in the second interface portion120 are activated. Activated means the linear actuators 424 areenergized in such a way as to move the base 404 closer to the mountingframe 408. In one embodiment, the linear actuators 424 have a minimum ormaximum travel distance such that when activated, the linear actuators424 move to the minimum or maximum travel distance and cause the fluidconnector second portion 412 to move into direct contact with the fluidconnector first portion 308.

In one embodiment, coupling or mating the second portion of the fluidconnector 412 to the first portion of the fluid connector 308 includesenergizing one or more linear actuators 424 of the second interfaceportion 120 to extend the second portion of the fluid connector 412relative to the second interface portion 120, toward the first portionof the fluid connector 308, and pressing one or more sealing surfaces ofone or more of the first 308 and second 412 fluid connector portionsagainst one or more seals 428, 440 of the other of the one or more ofthe first 308 and second 412 fluid connector portions. Flow proceeds toblock 732.

At block 732, the fluid connector second portion 412 couples to thefluid connector first portion 308. The fluid connector second portion412 moves into direct contact with the fluid connector first portion308. Flow proceeds to block 736.

At block 736, one or more valves 436 in the fluid transfer interface116, 120 open up during coupling. In one embodiment, a poppet valve inthe fluid connector second portion 412 automatically opens when thefluid connector second portion 412 makes contact with the fluidconnector first portion 308. In other embodiments, a valve 436 may bemanually opened or closed by a computer or individual associated withthe first 104 or second 108 objects.

In one embodiment, coupling or mating the second portion of the fluidconnector 412 to the first portion of the fluid connector 308 includesopening a valve 436 in one or more of the first 308 or second 412portions of the fluid connector. The valve 426 is configured to closeand prevent fluid flow in response to the first portion of the fluidconnector 308 is not coupled to the second portion of the fluidconnector 412 and open and allow fluid flow in response to the firstportion of the fluid connector 308 is coupled to the second portion ofthe fluid connector 412.

In one embodiment, enabling the fluid to pass between the second portionof the fluid connector 412 and the first portion of the fluid connector308 includes wherein mating the first 308 and second 412 portions of thefluid connector cause one or more valves 436 of the first 308 and second412 vportions of the fluid connector to transition from a closedposition to an open position, blocking fluid transfer when in the closedposition and allowing fluid transfer when in the open position. Flowproceeds to block 740.

At block 740, opening the one or more valves 436 causes the fluidtransfer pathway 354A, 354B to enable fluid transfer between the first116 and the second 120 interface portions. However, there may beadditional valves to be opened in the first 116 and/or second 120interface portions—such as valves associated with the fluid reservoirs124, 140. In one embodiment, one or more valves in the fluid-supplyingobject may be opened to enable fluid transfer. That is, for a fluidtransfer from the second object 108 to the first object 104, one or morevalves in the second object 108 may be opened. Conversely, for a fluidtransfer from the first object 104 to the second object 106, one or morevalves in the first object 104 may be opened. Flow proceeds to block744.

At block 744, fluid flows through the coupled interface 116, 120 to afluid-receiving object. This allows a fluid transfer between fluidreservoirs 124 and 140. Flow proceeds to decision block 748.

At decision block 748, a determination is made if the fluid transfer iscompleted. If the fluid transfer is not completed, then flow proceeds todecision block 748 to continue evaluation. If the fluid transfer iscompleted, then flow proceeds to block 752.

At block 752, the fluid transfer pathway 354 is closed. This involvesclosing the one or more valves associated with the first 104 and/orsecond 108 objects, and is the opposite of the step recited in block740. In one embodiment, one or more valves in the fluid-supplying objectmay be closed to enable fluid transfer. That is, for a fluid transferfrom the second object 108 to the first object 104, one or more valvesin the second object 108 may be closed. Conversely, for a fluid transferfrom the first object 104 to the second object 106, one or more valvesin the first object 104 may be closed. Flow proceeds to block 756.

At block 756, fluid stops flowing through the coupled interface 116,120. At this point, the decoupling process described in FIG. 8 may beperformed. Flow ends at block 756.

In one embodiment, a method of the present application includesmaneuvering a second interface portion 120 of a fluid transfer interface600 into approximate angular and axial alignment with a first interfaceportion 116 of the fluid transfer interface 600, axially extending thesecond interface portion 120 toward the first interface portion 116, andestablishing contact between an electropermanent magnet ring 208 of thesecond interface portion 120 and a ferromagnetic target 312 of the firstinterface portion 116. In response to establishing contact, the methodincludes changing the electropermanent magnet ring 208 from ademagnetized state to a magnetized state, mating the second portion ofthe fluid connector 412 to the first portion of the fluid connector 308,and enabling a fluid to pass between the second portion of the fluidconnector 412 and the first portion of the fluid connector 308. Thefirst interface portion 116 includes a first portion of a fluidconnector 308 and the second interface portion 120 includes a secondportion of the fluid connector 412, and the fluid connector 308/412 isconfigured to allow a fluid to pass therethrough.

Referring now to FIG. 8, a flowchart illustrating a fluid transferinterface decoupling process 800 in accordance with embodiments of thepresent invention is shown. The decoupling process of FIG. 8 reversesthe coupling process described in FIG. 7. Flow begins at block 804.

At block 804, the fluid transfer pathway 354 is closed. This step refersto closing one or more valves associated with either the first object104 and/or the second object 108, and not valves 436 of the first 116and/or second 120 interface portions. Flow proceeds to block 808.

At block 808, fluid stops flowing through the coupled interface 116,120, and no more fluid transfer may occur. Flow proceeds to block 812.

At clock 812, one or more linear actuators 424 of the second interfaceportion 120 are deactivated. Deactivated means the linear actuators 424are de-energized in such a way as to move the base 404 away from themounting frame 408. In one embodiment, the linear actuators 424 have aminimum or maximum travel distance such that when deactivated, thelinear actuators 424 move to the minimum or maximum travel distance andcause the fluid connector second portion 412 to away from direct contactwith the fluid connector first portion 308. Flow proceeds to block 816.

At block 816, the fluid connector second portion 412 uncouples from thefluid connector first portion 308. The fluid connector second portion412 moves away from contact with the fluid connector first portion 308.Flow proceeds to block 820.

At block 820, the electropermanent magnet elements 208 are demagnetized.Demagnetization involves energizing the electropermanent magnet elements208 with a successive pattern of alternating polarity current pulseswith successively decreasing amplitude. In one embodiment, the controlcircuit 204 and associated components may be part of the secondinterface portion 120. In another embodiment, the control circuit 204and associated components may be part of the robotic manipulator 112,the posable hose 900, or the second object 108. Flow proceeds to block824.

At block 824, the electropermanent magnet elements 208 stop providingattraction grip force to the ferromagnetic target 312. Oncedemagnetized, the electropermanent magnet elements 208 are no longerattracted to the ferromagnetic target 312 and no longer couple thesecond portion interface 120 to the first portion interface 116. Flowproceeds to block 828.

At block 828, the electropermanent magnet elements 208 of the secondportion interface 120 move away from the ferromagnetic target 312. Withthe electropermanent magnets 208 now deactivated, there is no forceholding the second interface portion 120 to the first interface portion116, and the robotic manipulator 112, portion interface 120 to the firstportion interface 116, and the second object 108 may initiate separationmovement. Flow proceeds to block 832.

At block 832, the fluid connector first portion 308 passes through theflanged ring 444 of the second interface portion 120. The flanged ring444 provides smooth lead-in to help the first 116 and second 120portions of the interface become centered and axially oriented. Flowproceeds to block 836.

At block 836, the second portion of the interface 120 is axiallyretracted away from the first portion of the interface 116. At thispoint, the movement is caused by outside members or devices, such as therobotic manipulator 112, the posable hose 900, or movement of the secondobject 108. Flow proceeds to block 840.

At block 840, the second portion of the interface 120 is maneuvered awayfrom angular and axial alignment with the first portion of the fluidtransfer interface 116. In one embodiment, a robotic manipulator 112 maybe attached to the second portion of the interface 120 and have one ormore degrees of freedom. In another embodiment, a posable hose 900 maybe attached to the second portion of the interface 120. Flow ends atblock 840.

In one embodiment, determining a fluid transfer operation is completedincludes inhibiting providing fluid between the first 116 and second 120interface portions, unmating the second portion of the fluid connector412 from the first portion of the fluid connector 308, changing theelectropermanent magnet ring from a magnetized state to a demagnetizedstate, and axially retracting the second interface portion 120 away fromthe first interface portion 116.

In one embodiment, unmating the second portion of the fluid connector412 from the first portion of the fluid connector 308 includesenergizing one or more linear actuators 424 of the second interfaceportion 120 to retract the second portion of the fluid connector 412relative to the second interface portion 120 and moving one or moresealing surfaces of the one or more of the first 308 and second 412fluid connector portions away from contact with the other of the one ormore of the first 308 and second 412 fluid connector portions.

Referring now to FIG. 9A, a diagram illustrating a side view of aposable hose 900, in accordance with embodiments of the presentinvention is shown. The posable hose 900 provides an alternate supportstructure for fluid transfer couplings between the second object 108 andthe first object 104. The posable hose 900 may provide five degrees offreedom (i.e., roll, pitch, and yaw—with each wrist joint providingseparate pitch and yaw) when inactivated to allow spatial flexibilityduring coupling operations.

In the preferred embodiment, each end of the posable hose 900 mayinclude a second interface portion 120. When configured in this way,each of the first 104 and second 108 objects would require a firstinterface portion 116 to be affixed thereon. FIG. 9A shows one end ofthe posable hose 900 including a second interface portion 120A and anopposite end including a second interface portion 120B. In otherembodiments, one or both ends of the posable hose 900 may include afirst interface portion 116.

The posable hose 900 may have three joints: a wrist joint 928A at oneend, a wrist joint 928B at the opposite end, and an elbow joint 916between the wrist joints 928A, 928B. A hinge may be provided to allowrotation around each axis. Joints providing a single degree of freedom954 may only require a single hinge, while joints requiring two degreesof freedom 958 may require two hinges, and so forth. In one embodiment,the elbow joint 916 may be located at a midpoint between the wristjoints 928. In another embodiment, the elbow joint 916 may be locatedcloser to one of the two wrist joints 928. In one embodiment, the elbowjoint 916 may be articulated with a single degree of freedom to allowshortening (i.e. where wrist joint 928A is closer to wrist joint 928B)or lengthening (i.e. where wrist joint 928A is further from wrist joint928B). Other forms of articulation may be possible, including multipledegrees of freedom and fewer or more joints than three joints. In oneembodiment, the posable hose 900 may have more or fewer elbow joints 916than shown.

In one embodiment, each wrist joint 928 may be articulated with twodegrees of freedom. The provided articulation allows for axial alignmentbetween the first 116 and second 120 interface portions prior tocoupling. In other embodiments, each wrist joint 928 may be articulatedwith other than two degrees of freedom. In other embodiments, each wristjoint 928 may be articulated with a different number of degrees offreedom. For example, one end of the posable hose 900 may besemi-permanently coupled to the second object 108 and not require anydegrees of freedom for articulation. It may be possible to arrange theopposite end wrist joint 928 and the elbow joint 916 in such a way as tostore the posable hose 900 in a more compact form when not in use.

The posable hose 900 may include fluid transfer pathways to facilitatefluid transfers between the two ends. In one embodiment, each of thejoint sections 916, 928A, 928B may be connected by a section of rigidtubing 904. FIG. 9A shows rigid tubing section 904A between wrist joint928A and one end of the elbow joint 916, and rigid tubing section 904Bbetween wrist joint 928B and a second end of the elbow joint 916. Withineach of the wrist joints 928 and elbow joint(s) 916 is a flexible hose908 (see FIG. 9B). Within wrist joint 928A, flexible hose 908A mayconnect rigid tubing 904A with second interface portion 120A. Withinelbow joint 916, flexible hose 908B may connect rigid tubing 904A withrigid tubing 904B. Within wrist joint 928B, flexible hose 908C mayconnect rigid tubing 904B with second interface portion 120B. Flexiblehose sections 908 are intended to follow the motion of each supportedjoint area. Flexible hose sections 908 may be joined to the rigid tubes904 using any known arrangement or method, including threaded fluidfittings, welded joints, or brazed joints.

The posable hose 900 may also include one or more grapple points 912,924. Grapple points 912, 924 may allow robotic manipulator 112 or othercontrol devices to latch onto the posable hose 900 at useful attachmentpoints to control the posable hose 900 in order to facilitate attachmentto the first 104 or second 108 objects or to store the posable hose 900.FIG. 9A illustrates two grapple points 924 on the wrist joints and twograpple points on the elbow joint 916. Wrist grapple point 924A is on anoutside surface of wrist joint 928A, and wrist grapple point 924B is onan outside surface of wrist joint 928B. Elbow grapple point 912A is on aleft side of elbow joint 916, and elbow grapple point 912B is on a rightside of elbow joint 916. Different arrangements and locations of grapplepoints 912, 924 are possible without deviating from the scope of theapplication.

Key to operation of the posable hose 900, and allowing it to be“posable” are friction brakes 920 associated with each of the hinges.Friction brakes 920, when not activated, provide no control of hingemovement. When activated, friction brakes 920 become rigid and do notallow hinge movement. This effectively “freezes” the posable hose 900 inposition and makes the entire structure rigid between the first 104 andsecond 108 objects. FIG. 9A illustrates friction brake 920A at the elbowjoint 916 hinge. Other friction brakes 920 will be described in FIG. 9B.

Referring now to FIG. 9B, a diagram illustrating an orthogonal view 950of a posable hose 900, in accordance with embodiments of the presentinvention is shown. FIG. 9B illustrates a posable hose 900 with apartially open elbow joint 916 and each of the wrist joints 928A, 928B.This may reflect a disposition where the first object 104 is close tothe second object 108 and the first interface portions 116 areapproximately 120 degrees apart. FIG. 9B shows more detail for thefriction brakes 920 at each wrist joint 928. Wrist joint 928A includesfriction brake 920B, which may control side-to-side movement, andfriction brake 920C, which may control up-down movement. Wrist joint928B includes friction brake 920E, which may control side-to-sidemovement, and friction brake 920D, which may control up-down movement.Other arrangements and locations for friction brakes 920 may be utilizedwithout deviating from the scope of the present application.

Referring now to FIG. 10, a block diagram of a posable hose 1000, inaccordance with embodiments of the present invention is shown. FIG. 10illustrates exemplary active components of a representative posable hose900, and corresponds to the embodiment illustrated in FIGS. 9A/9B. Theactive components may include wrist #1 active components 1016, an elbowbrake 920A, and wrist #2 active components 1020. The wrist #1 activecomponents 1016 may include wrist #1 linear actuators 424A, wrist #1 EPMmodules 208M, a wrist #1 pitch brake 920C, and a wrist #1 yaw brake920B. The wrist #2 active components 1020 may include wrist #2 linearactuators 424B, wrist #2 EPM modules 208N, a wrist #2 pitch brake 920D,and a wrist #2 yaw brake 920E.

Posable hose 900 may be controlled by a spacecraft 1004, which may be afirst object 104 or second object 108 as described herein. Thespacecraft 1004 may provide one or more control signals 1008 and power1012 in order to control the positioning and operation of the posablehose 900. In one embodiment, the spacecraft 1004 may provide the controlsignals 1008 and power 1012 through a grapple point 912, 924. That is,not only is a grapple point 912, 924 a mechanical fastening point for arobotic manipulator 112 or other control apparatus, but it also mayprovide an interface for the control signals 1008 and power 1012 toreach active components within the posable hose 900. In otherembodiments, one or more of control signals 1008 and/or power 1012 maybe wirelessly provided to the posable hose 900.

Although a single power connection 1012 is shown, it should be generallyunderstood that power 1012 may represent separate power connections toeach active component. Some active components may require both controlsignals 1008 and power 1012, while other active components may requireonly power 1012. For example, friction brakes 920 may require only apower connection 920 while each of the linear actuators 424 and EPMmodules 208 may require both control signals 1008 and power 1012. Itshould also be understood that linear actuators 424 (i.e., 424A/424B)and EPM modules 208 (i.e. 208M/208N) may represent any number ofactuators 424/modules 208 and each of the actuators 424/modules 208 mayrequire separate control signals 1008 and power 1012.

Referring now to FIG. 11A, a diagram illustrating object capture 1100,in accordance with embodiments of the present invention is shown. FIG.11A shows a first in a series of operations for transferring one or morefluids between a propellant depot 1104 and a spacecraft 1108. Thepropellant depot 1104 may be a specialized form of spacecraft that isable to supply one or more propellants or fluids to other spacecraft,including satellites. The propellant depot 1104 may store multiple typesof fluids, including cryogenic propellants, water, lubricants, and thelike. Because the propellant depot 1104 primarily sources fluids fortransfer to other spacecraft, the propellant deport is considered asecond object 108 while the receiving spacecraft 1108 is a first object104, as explained previously.

In the illustrated example, the propellant depot 1104 includes threefluid reservoirs 124, identified as fluid reservoirs 124A-124C. In theillustrated example, the spacecraft 1108 includes two fluid reservoirs140, identified as fluid reservoirs 140A-140B. In one embodiment, one ormore fluid reservoirs 124 may contain a same type of fluid. In otherembodiments, one or more fluid reservoirs 124 may contain a differenttype of fluid. Although three fluid reservoirs 124A-124C are shown, itshould be understood that any number of fluid reservoirs 124, 140 may bepresent in a first object 104, a second object 108, a propellant depot1104, and/or a spacecraft 1108. In the illustrated example, thepropellant depot 1104 includes two fluid transfer couplings 1112 and thespacecraft 1108 includes two fluid transfer couplings 1112. In otherembodiments, there may be any number of fluid transfer couplings on thefirst 104 or second 108 objects.

In the illustrated example, the propellant depot 1104 includes twoberthing capture arms 1116, identified as berthing capture arm 1116A andberthing capture arm 1116B. Berthing capture arms 1116 secure thepropellant depot 1104/second object 108 to the spacecraft 1108/firstobject 104. FIG. 11A shows each of the berthing capture arms 1116A/1116Bmoving toward the spacecraft 1120A/1120B. Prior to this operation, thepropellant depot 1104 and/or spacecraft 1108 has moved within a capturedistance and orientation of the spacecraft 1108. The propellant depot1104 may also include one or more robotic manipulators 112, which aredescribed with reference to the following figures.

Referring now to FIG. 11B, a diagram illustrating posable hosepreparation 1130, in accordance with embodiments of the presentinvention is shown. FIG. 11B shows each of the berthing capture armssecuring the spacecraft 1124A/1124B. At this point, the propellant depot1104 is rigidly attached to the spacecraft 1108. FIG. 11B also shows arobotic manipulator 112 of the propellant depot 1104 grasping a posablehose 900A. In one embodiment, the robotic manipulator 112 may grasp theposable hose 900A at an elbow grapple point 912 or a wrist grapple point924. FIG. 11B shows the robotic manipulator 112 grasping the posablehose 900A at elbow grapple point 912B. Prior to this, the posable hose900A may have been secured to an exterior surface of the propellantdepot 1104 or stored within the propellant depot 1104, and retrieved bythe robotic manipulator 112.

Referring now to FIG. 11C, a diagram illustrating a first posable hoseinstallation 1150, in accordance with embodiments of the presentinvention is shown. FIG. 11C shows the first posable hose 900A installedbetween fluid couplings 1112 on the propellant depot 1104 and thespacecraft 1008. Fluid flows 1154 from fluid reservoir 124A to fluidreservoir 140A. The fluid level in fluid reservoir 124A is reducedcompared to the level shown in FIGS. 11A/11B, and the fluid level influid reservoir 140A is now full. Finally, the robotic manipulator 112has retrieved another posable hose 900B in preparation for installation.This time, the robotic manipulator 112 grasps posable hose 900B by wristgrapple point 924B instead of an elbow grapple point 912.

Referring now to FIG. 11D, a diagram illustrating a second posable hoseinstallation 1170, in accordance with embodiments of the presentinvention is shown. FIG. 11D shows the second posable hose 900Binstalled between fluid couplings 1112 on the propellant depot 1104 andthe spacecraft 1008. Fluid flows 1174 from fluid reservoir 124B to fluidreservoir 140B. The fluid level in fluid reservoir 124B is reducedcompared to the level shown in FIGS. 11A/11B, and the fluid level influid reservoir 140B is now full. In one embodiment, the fluids storedin fluid reservoirs 124A/124B/140A/140B are all the same, while inanother embodiment, the fluids stored in fluid reservoirs 124A/140A arethe same and the fluid stored in fluid reservoirs 124B/140B are thesame—but the fluid stored in fluid reservoirs 124A/140A are differentthan the fluid stored in fluid reservoirs 124B/140B.

Finally, those skilled in the art should appreciate that they canreadily use the disclosed conception and specific embodiments as a basisfor designing or modifying other structures for carrying out the samepurposes of the present application without departing from the spiritand scope of the application as defined by the appended claims.

It will be readily understood that the components of the application, asgenerally described and illustrated in the Figures herein, may bearranged and designed in a wide variety of different configurations.Thus, the detailed description of the embodiments is not intended tolimit the scope of the application as claimed, but is merelyrepresentative of selected and exemplary embodiments of the application.

One having ordinary skill in the art will readily understand that theapplication as discussed above may be practiced with steps in adifferent order, and/or with hardware elements in configurations thatare different than those which are specifically disclosed. Therefore,although the application has been described based upon these preferredembodiments, it would be apparent to those of skill in the art thatcertain modifications, variations, and alternative constructions wouldbe apparent, while remaining within the spirit and scope of theapplication. In order to determine the metes and bounds of theapplication, therefore, reference should be made to the present claims.

While preferred embodiments of the present application have beendescribed, it is to be understood that the embodiments described areillustrative only and the scope of the application is to be definedsolely by the appended claims when considered with a full range ofequivalents and modifications (e.g., protocols, hardware devices,software platforms etc.) thereto.

We claim:
 1. A fluid transfer interface, comprising: a first interfaceportion, comprising: a first portion of a fluid connector, centrallydisposed within the first interface portion and configured to allow afluid to pass therethrough; and one or more ferromagnetic surfaces,laterally disposed around the first portion of the fluid connector; anda second interface portion, comprising: an extendable second portion ofthe fluid connector, centrally disposed within the second interfaceportion and configured to allow the fluid to pass therethrough to thefirst portion of the fluid connector in response to the first portion ofthe fluid connector is coupled to the second portion of the fluidconnector; one or more actuators, concentrically disposed around thesecond portion of the fluid connector, configured to axially extend orretract the second portion of the fluid connector relative to the secondinterface portion: and one or more electropermanent magnets, laterallydisposed around the second portion of the fluid connector, configured tobe magnetized or demagnetized in unison, further configured to: provideattraction force to the one or more ferromagnetic surfaces whenmagnetized and couple the first interface portion to the secondinterface portion; and provide no attraction force to the one or moreferromagnetic surfaces when demagnetized and allow the first interfaceportion to be decoupled from the second interface portion.
 2. The fluidtransfer interface of claim 1, wherein the one or more actuatorscomprises one or more linear actuators.
 3. The fluid transfer interfaceof claim 2, wherein the second interface portion further comprises: oneor more linear guides, disposed around and parallel to the secondportion of the fluid connector, configured to maintain axial alignmentbetween the first and second portions of the fluid connector while thesecond portion of the fluid connector is extended toward the firstportion of the fluid connector.
 4. The fluid transfer interface of claim1, wherein the second interface portion further comprises: one or moresprings, laterally disposed around the second portion of the fluidconnector, configured to provide axial tolerance between a bearingsurface of the second interface portion and the second portion of thefluid connector.
 5. The fluid transfer interface of claim 1, wherein thefirst interface portion is affixed to a first object, wherein the secondinterface portion is configured to be movable relative to the firstinterface portion and transfer the fluid between a second object coupledto the second interface portion and the first object after the firstinterface portion is coupled to the second interface portion.
 6. Thefluid transfer interface of claim 1, comprising: a control circuit,electrically coupled to the one or more electropermanent magnets,configured to magnetize the one or more electropermanent magnets inresponse to one or more first commands and demagnetize the one or moreelectropermanent magnets in response to one or more second commands. 7.The fluid transfer interface of claim 1, comprising: a valve, configuredto close and prevent fluid flow in response to the first portion of thefluid connector is not coupled to the second portion of the fluidconnector and open and allow fluid flow in response to the first portionof the fluid connector is coupled to the second portion of the fluidconnector.
 8. A method, comprising: maneuvering a second interfaceportion of a fluid transfer interface into approximate angular and axialalignment with a first interface portion of the fluid transferinterface, the first interface portion comprising a first portion of afluid connector and the second interface portion comprising a secondportion of the fluid connector, the fluid connector configured to allowa fluid to pass therethrough; axially extending the second interfaceportion toward the first interface portion; establishing contact betweenan electropermanent magnet ring of the second interface portion and aferromagnetic target of the first interface portion; in response toestablishing contact: changing the electropermanent magnet ring from ademagnetized state to a magnetized state; energizing one or moreactuators of the second interface portion to extend the second portionof the fluid connector relative to the second interface portion, towardthe first portion of the fluid connector; mating the second portion ofthe fluid connector to the first portion of the fluid connector; andenabling a fluid to pass between the second portion of the fluidconnector and the first portion of the fluid connector.
 9. The method ofclaim 8, wherein a control circuit, electrically coupled to theelectropermanent magnet ring, is configured to magnetize theelectropermanent magnet ring in response to receiving one or more firstcommands and demagnetize the electropermanent magnet ring in response toreceiving one or more second commands.
 10. The method of claim 8,wherein mating the second portion of the fluid connector to the firstportion of the fluid connector comprises: opening a valve in one or moreof the first or second portions of the fluid connector, wherein thevalve is configured to close and prevent fluid flow in response to thefirst portion of the fluid connector is not coupled to the secondportion of the fluid connector and open and allow fluid flow in responseto the first portion of the fluid connector is coupled to the secondportion of the fluid connector.
 11. The method of claim 8, whereinmating the second portion of the fluid connector to the first portion ofthe fluid connector comprises: pressing one or more sealing surfaces ofone or more of the first and second fluid connector portions against oneor more seals of the other of the one or more of the first and secondfluid connector portions, wherein the one or more actuators compriseslinear actuators.
 12. The method of claim 8, wherein enabling the fluidto pass between the second portion of the fluid connector and the firstportion of the fluid connector comprises: wherein mating the first andsecond portions of the fluid connector cause one or more valves of thefirst and second portions of the fluid connector to transition from aclosed position to an open position, blocking fluid transfer when in theclosed position; and allowing fluid transfer when in the open position.13. The method of claim 8, comprising: determining a fluid transferoperation is completed; inhibiting providing fluid between the first andsecond interface portions; unmating the second portion of the fluidconnector from the first portion of the fluid connector; changing theelectropermanent magnet ring from a magnetized state to a demagnetizedstate; and axially retracting the second interface portion away from thefirst interface portion.
 14. The method of claim 13, wherein unmatingthe second portion of the fluid connector from the first portion of thefluid connector comprises: energizing one or more actuators of thesecond interface portion to retract the second portion of the fluidconnector relative to the second interface portion; and moving one ormore sealing surfaces of the one or more of the first and second fluidconnector portions away from contact with the other of the one or moreof the first and second fluid connector portions.
 15. A system,comprising: a first object, configured to receive a fluid, comprising: afirst interface portion, comprising: a first portion of a fluidconnector, affixed to the first object; and one or more ferromagneticsurfaces, orthogonally disposed around the first portion of the fluidconnector and conformal with an exterior surface of the first object; asecond object, configured to provide the fluid; a second interfaceportion, comprising: a second portion of the fluid connector, the fluidconnector configured to allow the fluid to pass therethrough and extendand retract with respect to the second interface portion; one or moreactuators, laterally disposed around the second portion of the fluidconnector, configured to axially extend or retract the second portion ofthe fluid connector relative to the second interface portion; and one ormore electropermanent magnets, laterally disposed around the secondportion of the fluid connector, configured to be magnetized ordemagnetized in unison, further configured to: provide attraction forceto the one or more ferromagnetic surfaces when magnetized and couple thefirst interface portion to the second interface portion; and provide noattraction force to the one or more ferromagnetic surfaces whendemagnetized and allow the first interface portion to be decoupled fromthe second interface portion; and a flexible member comprising first andsecond ends, the first end coupled to the second object and the secondend coupled to the second interface portion and the second portion ofthe fluid connector, configured to maneuver the second interface portionrelative to the first interface portion and pass the fluid therethrough.16. The system of claim 15, wherein the one or more actuators comprisesone or more linear actuators.
 17. The system of claim 15, wherein thesecond interface portion further comprises: a control circuit, coupledto the one or more electropermanent magnets, configured to magnetize theone or more electropermanent magnets in response to one or more firstcommands and demagnetize the one or more electropermanent magnets inresponse to one or more second commands.
 18. The system of claim 15,wherein one or more of the first and second portions of the fluidconnector comprises a valve, configured to close and prevent fluid flowin response to the first portion of the fluid connector is not coupledto the second portion of the fluid connector and open and allow fluidflow in response to the first portion of the fluid connector is coupledto the second portion of the fluid connector.
 19. The system of claim15, wherein the second interface portion further comprises: one or moresprings, laterally disposed around the second portion of the fluidconnector, configured to provide axial tolerance between a bearingsurface of the second interface portion and the second portion of thefluid connector.
 20. The system of claim 15, wherein the secondinterface portion further comprises: a ring of resilient material,concentric with the second portion of the fluid connector and comprisinga hole for the first portion of the fluid connector to passtherethrough, comprising a flanged lead-in on an inner surface.